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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8195f5c0d9a800b311ff87242d342361.html">libobsensor</a></li><li class="navelem"><a class="el" href="dir_551f50d4f6202563ca607f3aa0b67db1.html">hpp</a></li>  </ul>
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<a href="Filter_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="Types_8hpp.html">Types.hpp</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;functional&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceob.html">ob</a> {</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="namespaceob.html#a5c6cd771034a8052085dee9bdbbf80b0">   13</a></span>&#160;<span class="keyword">class </span><a class="code" href="classob_1_1Frame.html">Frame</a>;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keyword">typedef</span> std::function&lt;void(std::shared_ptr&lt;Frame&gt;)&gt; <a class="code" href="namespaceob.html#a5c6cd771034a8052085dee9bdbbf80b0">FilterCallback</a>;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classob_1_1Filter.html">   23</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <a class="code" href="classob_1_1Filter.html">Filter</a>();</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classob_1_1Filter.html">Filter</a>() = <span class="keywordflow">default</span>;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> reset();</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">virtual</span> std::shared_ptr&lt;Frame&gt; process(std::shared_ptr&lt;Frame&gt; frame);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> pushFrame(std::shared_ptr&lt;Frame&gt; frame);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> setCallBack(<a class="code" href="namespaceob.html#a5c6cd771034a8052085dee9bdbbf80b0">FilterCallback</a> callback);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classob_1_1Filter.html#ac80715de348ec5eedcaa8eaf019b7587">   58</a></span>&#160;    std::shared_ptr&lt;FilterImpl&gt; <a class="code" href="classob_1_1Filter.html#ac80715de348ec5eedcaa8eaf019b7587">impl_</a>;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;};</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classob_1_1PointCloudFilter.html">   64</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1PointCloudFilter.html">PointCloudFilter</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="classob_1_1PointCloudFilter.html">PointCloudFilter</a>();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordtype">void</span> setCreatePointFormat(<a class="code" href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a> type);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">void</span> setCameraParam(<a class="code" href="structOBCameraParam.html">OBCameraParam</a> param);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordtype">void</span> setFrameAlignState(<span class="keywordtype">bool</span> state);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">void</span> setPositionDataScaled(<span class="keywordtype">float</span> scale);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">void</span> setColorDataNormalization(<span class="keywordtype">bool</span> state);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordtype">void</span> setCoordinateSystem(<a class="code" href="ObTypes_8h.html#aedf3502c5abaa3bfd8027d61e8f529de">OBCoordinateSystemType</a> type);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;};</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classob_1_1FormatConvertFilter.html">  117</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1FormatConvertFilter.html">FormatConvertFilter</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <a class="code" href="classob_1_1FormatConvertFilter.html">FormatConvertFilter</a>();</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordtype">void</span> setFormatConvertType(<a class="code" href="ObTypes_8h.html#ae57f11b2621f5e3b74a3983ad647133a">OBConvertFormat</a> type);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;};</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classob_1_1CompressionFilter.html">  132</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1CompressionFilter.html">CompressionFilter</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <a class="code" href="classob_1_1CompressionFilter.html">CompressionFilter</a>();</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keywordtype">void</span> setCompressionParams(<a class="code" href="ObTypes_8h.html#ab079007f3780abff51925354f8b59a15">OBCompressionMode</a> mode, <span class="keywordtype">void</span> *params);</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;};</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classob_1_1DecompressionFilter.html">  148</a></span>&#160;<span class="keyword">class </span><a class="code" href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a> <a class="code" href="classob_1_1DecompressionFilter.html">DecompressionFilter</a> : <span class="keyword">public</span> <a class="code" href="classob_1_1Filter.html">Filter</a> {</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <a class="code" href="classob_1_1DecompressionFilter.html">DecompressionFilter</a>();</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;};</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;}  <span class="comment">// namespace ob</span></div><div class="ttc" id="classob_1_1DecompressionFilter_html"><div class="ttname"><a href="classob_1_1DecompressionFilter.html">ob::DecompressionFilter</a></div><div class="ttdoc">The DecompressionFilter class is a subclass of Filter that performs decompression. </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00148">Filter.hpp:148</a></div></div>
<div class="ttc" id="ObTypes_8h_html_a30904eab1a667b797e7ce1099ba7c36a"><div class="ttname"><a href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a></div><div class="ttdeci">OBFormat</div><div class="ttdoc">Enumeration value describing the pixel format. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00206">ObTypes.h:206</a></div></div>
<div class="ttc" id="classob_1_1Frame_html"><div class="ttname"><a href="classob_1_1Frame.html">ob::Frame</a></div><div class="ttdef"><b>Definition:</b> <a href="Frame_8hpp_source.html#l00040">Frame.hpp:40</a></div></div>
<div class="ttc" id="classob_1_1Filter_html"><div class="ttname"><a href="classob_1_1Filter.html">ob::Filter</a></div><div class="ttdoc">The Filter class is the base class for all filters in the SDK. </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00023">Filter.hpp:23</a></div></div>
<div class="ttc" id="namespaceob_html"><div class="ttname"><a href="namespaceob.html">ob</a></div><div class="ttdef"><b>Definition:</b> <a href="Context_8hpp_source.html#l00016">Context.hpp:16</a></div></div>
<div class="ttc" id="ObTypes_8h_html_ab079007f3780abff51925354f8b59a15"><div class="ttname"><a href="ObTypes_8h.html#ab079007f3780abff51925354f8b59a15">OBCompressionMode</a></div><div class="ttdeci">OBCompressionMode</div><div class="ttdoc">Compression mode. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00637">ObTypes.h:637</a></div></div>
<div class="ttc" id="classob_1_1FormatConvertFilter_html"><div class="ttname"><a href="classob_1_1FormatConvertFilter.html">ob::FormatConvertFilter</a></div><div class="ttdoc">The FormatConvertFilter class is a subclass of Filter that performs format conversion. </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00117">Filter.hpp:117</a></div></div>
<div class="ttc" id="ObTypes_8h_html_aedf3502c5abaa3bfd8027d61e8f529de"><div class="ttname"><a href="ObTypes_8h.html#aedf3502c5abaa3bfd8027d61e8f529de">OBCoordinateSystemType</a></div><div class="ttdeci">enum OB_COORDINATE_SYSTEM_TYPE OBCoordinateSystemType</div></div>
<div class="ttc" id="structOBCameraParam_html"><div class="ttname"><a href="structOBCameraParam.html">OBCameraParam</a></div><div class="ttdoc">Structure for camera parameters. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00375">ObTypes.h:375</a></div></div>
<div class="ttc" id="Types_8hpp_html"><div class="ttname"><a href="Types_8hpp.html">Types.hpp</a></div><div class="ttdoc">Provides SDK structure and enumeration constant definitions (depending on libobsensor/h/ObTypes.h). </div></div>
<div class="ttc" id="classob_1_1Filter_html_ac80715de348ec5eedcaa8eaf019b7587"><div class="ttname"><a href="classob_1_1Filter.html#ac80715de348ec5eedcaa8eaf019b7587">ob::Filter::impl_</a></div><div class="ttdeci">std::shared_ptr&lt; FilterImpl &gt; impl_</div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00058">Filter.hpp:58</a></div></div>
<div class="ttc" id="classob_1_1CompressionFilter_html"><div class="ttname"><a href="classob_1_1CompressionFilter.html">ob::CompressionFilter</a></div><div class="ttdoc">The CompressionFilter class is a subclass of Filter that performs compression. </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00132">Filter.hpp:132</a></div></div>
<div class="ttc" id="ObTypes_8h_html_ae57f11b2621f5e3b74a3983ad647133a"><div class="ttname"><a href="ObTypes_8h.html#ae57f11b2621f5e3b74a3983ad647133a">OBConvertFormat</a></div><div class="ttdeci">OBConvertFormat</div><div class="ttdoc">Enumeration of format conversion types. </div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00431">ObTypes.h:431</a></div></div>
<div class="ttc" id="namespaceob_html_a5c6cd771034a8052085dee9bdbbf80b0"><div class="ttname"><a href="namespaceob.html#a5c6cd771034a8052085dee9bdbbf80b0">ob::FilterCallback</a></div><div class="ttdeci">std::function&lt; void(std::shared_ptr&lt; Frame &gt;)&gt; FilterCallback</div><div class="ttdoc">A callback function that takes a shared pointer to a Frame object as its argument. </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00013">Filter.hpp:13</a></div></div>
<div class="ttc" id="classob_1_1PointCloudFilter_html"><div class="ttname"><a href="classob_1_1PointCloudFilter.html">ob::PointCloudFilter</a></div><div class="ttdoc">The PointCloudFilter class is a subclass of Filter that generates point clouds. </div><div class="ttdef"><b>Definition:</b> <a href="Filter_8hpp_source.html#l00064">Filter.hpp:64</a></div></div>
<div class="ttc" id="ObTypes_8h_html_aa0add2ff45ff52cc75dc92d44f883fbf"><div class="ttname"><a href="ObTypes_8h.html#aa0add2ff45ff52cc75dc92d44f883fbf">OB_EXTENSION_API</a></div><div class="ttdeci">#define OB_EXTENSION_API</div><div class="ttdef"><b>Definition:</b> <a href="ObTypes_8h_source.html#l00028">ObTypes.h:28</a></div></div>
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